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In order to solve the TSP (Traveling Salesman Problem) of Unmanned Aerial Vehicle (UAV) which wants to quickly find the best traversal path between multiple target areas, a fusion programming algorithm based on Ant Colony Algorithm, A * algorithm and cubic B-spline optimization is designed; Although Ant Colony Algorithm has a better performance than other optimization algorithms in solving TSP, its planning path processing time is long, the generated path turns more, and the quality and security of path are poor; The algorithm firstly improves the node expansion mode of the traditional A * algorithm to quickly generate the local path between two target areas, then combines the Ant Colony Algorithm and the improved A * algorithm for global path planning, and finally smoothes the path combined with cubic B-spline; The simulation results based on grid map show that the algorithm has better efficiency and stability than the traditional algorithm.